TECHNICAL FIELD OF THE INVENTION

This invention relates to apparatus for analysing meat products.

BACKGROUND

In the meat processing industry slaughter houses may include a carrier system in the form of a track for moving prepared meat carcasses from a loading position to an unloading position. It is already known to provide a camera and computer control system to determine the size and position of the meat carcasses during movement along the carrier system and use this information to control a cutter in the form of a circular saw blade which is carried and moved by a mechanical robotic arm.

Existing systems do not provide any analytical information about the quality of the meat products, which must be assessed manually in a separate operation.

The present invention seeks to provide a new and inventive system for handling meat products which is capable of providing accurate and reliable information in less time than is currently the case. SUMMARY OF THE INVENTION

The present invention proposes apparatus for analysing meat products which includes: - a carrier system for moving meat products from a loading position to an unloading position; - a control system including sensing means for detecting the size and position of the meat products during movement along the carrier system; characterised by a tissue probe which is carried by a mechanical robotic arm to insert the probe into the meat products in response to information provided by the sensing means and thereby obtain the thickness of fat along the probing axis, and the control system adapts the probing position automatically using the sensory input from the sensing means to adapt to variations in the shape and size of the meat product.

To ensure that accurate depth information is obtained the control system preferably uses the sensory information to insert the probe substantially perpendicular to the surface of the meat product at the point of entry. In the case of a meat carcass the product is preferably probed from the skin side.

The meat product may be moving or stationary during the probing operation.

The fat information obtained from the probing may be printed on the carcass, preferably at a different position along the carrier system.

The sensing means preferably includes an optical imaging system which provides a digital image of the carcass from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product.

The robotic arm is preferably arranged to move the probe in three mutually orthogonal x, y and z axes with provision for changing the axis of the probe relative to the meat product.

The invention also provides a method of analysing meat products which includes: - moving meat products from a loading position to an unloading position; - using sensing means to detect the size and position of the meat products during such movement; characterised by inserting a tissue probe, carried by a mechanical robotic arm, into the meat products in response to information provided by the sensing means and thereby obtaining the thickness of fat along the probing axis, and the probing position is adapted automatically using the sensory information from the sensing means to adapt to variations in the shape and size of the meat product.

BRIEF DESCRIPTION OF THE DRAWINGS

The following description and the accompanying drawings referred to therein are included by way of non-limiting example in order to illustrate how the invention may be put into practice. In the drawings:

Figure 1 is an overall plan view of meat processing apparatus in accordance with the invention;

Figure 2 is a more detailed plan view of part of the aparatus; Figure 3 is a diagrammatic plan view to illustrate the entry path of the probe into a meat carcass; and

Figure 4 is a general view the meat carcass and probe.

DETAILED DESCRIPTION OF THE DRAWINGS

The apparatus shown in Fϊg. 1 may be installed in a meat processing plant. The apparatus has a carrier system which includes a track 1 for moving meat products C suspended on hooks, from a loading position 2 to an unloading position 3 in direction A. An imaging system which includes a camera 4 linked to a control computer 8 optically senses the size and position of the meat products during movement along the track. A mechanical robot 5 is mounted adjacent to the track 1 operated by the control system, and a printer 6 is also linked to the control system.

Referring to Fig. 2, the robot 5 has a fixed plinth 10 carrying a robotic arm 11 which includes a plurality of articulated sections 12, 13 and 14 arranged to move a tissue probe 15 in three mutually orthogonal x, y and z axes. The probe is also mounted for angular movement relative to the arm so that the axis of the probe can be changed relative to the meat products.

The tissue probe 15 may be of a known kind which is capable of detecting the difference between fat and lean meat, e.g. by measuring electrical resistance. The robot inserts the probe into the meat products for a known distance in response to information provided by the visual system 4, and thereby measures the thickness of fat along the probing axis. The optical imaging system provides a digital image of the carcass, from which the control system calculates the optimum position in which to insert the probe according to the size and shape of the meat product. The control system changes the probing position automatically to adapt to variations in the shape and size of the meat product.

To ensure that accurate depth information is obtained the control system uses the sensory information to orientate the probe 15 substantially perpendicular to the surface of the meat product at the point of entry, as shown in Fig. 3. In the case of a meat carcass the probe is preferably inserted from the skin side. The probe may penetrate completely through the carcass so that the probe extends beyond the bone side, or it may be partially inserted to measure fat depth from the skin side.

As shown in Fig. 4, the probe may measure the depth of fat in one or more positions on the meat carcass. The probe path is defined anatomically using the sensory device using predetermined anatomical features such as rib bones16, the mid point of the middle primal piece, or a certain distance from the split plane 18 and between the 3rd and 4th rib, etc., taking into account the dimensions of the carcass, e.g. its length.

The meat carcass may be moving or stationary during the probing operation. The robotic arm may also carry a clamp or support for steadying the carcass against the force applied by the probe.

The fat information obtained from the probe may then be printed on the carcass by the printer 6 using food-grade inks.

It will be appreciated that the features disclosed herein may be present in any feasible combination. Whilst the above description lays emphasis on those areas which, in combination, are believed to be new, protection is claimed for any inventive combination of the features disclosed herein.